Question) How can I get 'depth' image as opencv?

[mgum1]

Hello, thank you for help.

There is two source code.

First one is basic example supplied by Intel, the second source which i modify is combined by opencv.

The problem is, I can't use "render". because of pipe.start(cfg)

i should use pipe.start(cfg) because 'cfg enable_stream--' function need that for showing color image.

but, because of this pipe.start(cfg), below

" depth_image.render(depth, { 0, 0, app.width() / 2, app.height() });"

sentence didn't work. (if i modify pipe.start(cfg) to pipe.start(), it did work.)

so, how can i active this render without delete pipe.start(cfg)?

or, is there any solution to make color image and depth image like first code on each window?

/////////////////////////////////////////////////// first code ////////////////////////////////////////////////////////

# include

# include "example.hpp"

int main(int argc, char * argv[]) try

{

window app(1280, 720, "RealSense Capture Example");

texture depth_image, color_image;

rs2::colorizer color_map;

rs2::pipeline pipe;

pipe.start();

while(app) // Application still alive?

{

rs2::frameset data = pipe.wait_for_frames();

rs2::frame depth = color_map(data.get_depth_frame());

rs2::frame color = data.get_color_frame();

depth_image.render(depth, { 0, 0, app.width() / 2, app.height() });

color_image.render(color, { app.width() / 2, 0, app.width() / 2, app.height() });

}

return EXIT_SUCCESS;

}

/////////////////////////////////////////////////// second code ////////////////////////////////////////////////////////

# include

# include

# include "example.hpp"

using namespace std;

using namespace cv;

int main()

{

window app(1280, 720, "RealSense Capture");

rs2::pipeline pipe;

rs2::config cfg;

cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30);

cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30);

cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30);

pipe.start(cfg);

texture depth_image;

for (;;)

{

rs2::frameset frames = pipe.wait_for_frames();

rs2::frame color_frame = frames.get_color_frame();

rs2::frame depth_frame = frames.get_depth_frame();

depth_image.render(depth_frame, { 0 , 0 , app.width() / 2, app.height() });

// show the color image

Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP);

namedWindow("Display Image", WINDOW_AUTOSIZE);

imshow("Display Image", color);

// i want depth image by this code, but there's error.

/*Mat depth_show(Size(640, 480), CV_8UC1, (void*)depth_frame.get_data(), Mat::AUTO_STEP);

namedWindow("Display infrared", WINDOW_AUTOSIZE);

imshow("Display infrared", depth_show);*/

waitKey(10);

}

return 0;

}

[idata]

Hello P_D_C,

This code achieves what you are trying to do: window app(1280, 720, "RealSense Capture"); rs2::pipeline pipe; rs2::config cfg; cfg.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_BGR8, 30); cfg.enable_stream(RS2_STREAM_INFRARED, 640, 480, RS2_FORMAT_Y8, 30); cfg.enable_stream(RS2_STREAM_DEPTH, 640, 480, RS2_FORMAT_Z16, 30); pipe.start(cfg); texture depth_image; // Declare depth colorizer for pretty visualization of depth data rs2::colorizer color_map; //Added this, needed later for (;;) { rs2::frameset frames = pipe.wait_for_frames(); rs2::frame color_frame = frames.get_color_frame(); // rs2::frame depth_frame = frames.get_depth_frame(); rs2::frame depth_frame = color_map(frames.get_depth_frame()); // Find and colorize the depth data //Added color_map depth_image.render(depth_frame, { 0 , 0 , app.width() / 2, app.height() }); // show the color image Mat color(Size(640, 480), CV_8UC3, (void*)color_frame.get_data(), Mat::AUTO_STEP); namedWindow("Display Image", WINDOW_AUTOSIZE); imshow("Display Image", color); Mat depth_show(Size(640, 480), CV_8UC3, (void*)depth_frame.get_data(), Mat::AUTO_STEP); //Changed CV_8UC1 -> CV_8UC3 namedWindow("Display infrared", WINDOW_AUTOSIZE); imshow("Display infrared", depth_show); waitKey(10); } return 0;Regards,Jesus G.Intel Customer Support